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<div class="title">robotSyncTaskExample.cpp</div>  </div>
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<p>Shows how to add a task callback to <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a>'s synchronization/processing cycleA sensor interpretation task callback is invoked by the <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object every cycle as it runs, which records the robot's current pose and velocity.</p>
<p>Note that tasks must take a small amount of time to execute, to avoid delaying the robot cycle.</p>
<div class="fragment"><div class="line"><span class="preprocessor">#include &quot;Aria.h&quot;</span></div><div class="line"></div><div class="line"><span class="keyword">class </span>PrintingTask</div><div class="line">{</div><div class="line"><span class="keyword">public</span>:</div><div class="line">  <span class="comment">// Constructor. Adds our &#39;user task&#39; to the given robot object.</span></div><div class="line">  PrintingTask(<a name="_a0"></a><a class="code" href="classArRobot.html">ArRobot</a> *robot);</div><div class="line"></div><div class="line">  <span class="comment">// Destructor. Removes our user task from the robot</span></div><div class="line">  ~PrintingTask(<span class="keywordtype">void</span>);</div><div class="line">  </div><div class="line">  <span class="comment">// This method will be called by the callback functor</span></div><div class="line">  <span class="keywordtype">void</span> doTask(<span class="keywordtype">void</span>);</div><div class="line"><span class="keyword">protected</span>:</div><div class="line">  <a class="code" href="classArRobot.html">ArRobot</a> *myRobot;</div><div class="line"></div><div class="line">  <span class="comment">// The functor to add to the robot for our &#39;user task&#39;.</span></div><div class="line">  <a name="_a1"></a><a class="code" href="classArFunctorC.html">ArFunctorC&lt;PrintingTask&gt;</a> myTaskCB;</div><div class="line">};</div><div class="line"></div><div class="line"></div><div class="line"><span class="comment">// the constructor (note how it uses chaining to initialize myTaskCB)</span></div><div class="line">PrintingTask::PrintingTask(<a class="code" href="classArRobot.html">ArRobot</a> *robot) :</div><div class="line">  myTaskCB(<span class="keyword">this</span>, &amp;PrintingTask::doTask)</div><div class="line">{</div><div class="line">  myRobot = robot;</div><div class="line">  <span class="comment">// just add it to the robot</span></div><div class="line">  myRobot-&gt;<a name="a2"></a><a class="code" href="classArRobot.html#ab3ed1a09a96c009802ed64bbc6c75325">addSensorInterpTask</a>(<span class="stringliteral">&quot;PrintingTask&quot;</span>, 50, &amp;myTaskCB);</div><div class="line">}</div><div class="line"></div><div class="line">PrintingTask::~PrintingTask()</div><div class="line">{</div><div class="line">  myRobot-&gt;remSensorInterpTask(&amp;myTaskCB);</div><div class="line">}</div><div class="line"></div><div class="line"><span class="keywordtype">void</span> PrintingTask::doTask(<span class="keywordtype">void</span>)</div><div class="line">{</div><div class="line">  <span class="comment">// print out some info about the robot</span></div><div class="line">  printf(<span class="stringliteral">&quot;\rx %6.1f  y %6.1f  th  %6.1f vel %7.1f mpacs %3d&quot;</span>, myRobot-&gt;getX(),</div><div class="line">     myRobot-&gt;getY(), myRobot-&gt;getTh(), myRobot-&gt;getVel(), </div><div class="line">     myRobot-&gt;getMotorPacCount());</div><div class="line">  fflush(stdout);</div><div class="line"></div><div class="line">  <span class="comment">// Need sensor readings? Try myRobot-&gt;getRangeDevices() to get all </span></div><div class="line">  <span class="comment">// range devices, then for each device in the list, call lockDevice(), </span></div><div class="line">  <span class="comment">// getCurrentBuffer() to get a list of recent sensor reading positions, then</span></div><div class="line">  <span class="comment">// unlockDevice().</span></div><div class="line">}</div><div class="line"></div><div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv)</div><div class="line">{</div><div class="line">  <a name="a3"></a><a class="code" href="classAria.html#ad99c16b5d947229d9f8e1c5b2d4cdd73">Aria::init</a>();</div><div class="line">  <a name="_a4"></a><a class="code" href="classArArgumentParser.html">ArArgumentParser</a> parser(&amp;argc, argv);</div><div class="line">  parser.<a name="a5"></a><a class="code" href="classArArgumentParser.html#a501694b62a7f8b0c3cadd84aeafe1b35">loadDefaultArguments</a>();</div><div class="line">  <a class="code" href="classArRobot.html">ArRobot</a> robot;</div><div class="line"></div><div class="line">  <a name="_a6"></a><a class="code" href="classArRobotConnector.html">ArRobotConnector</a> robotConnector(&amp;parser, &amp;robot);</div><div class="line">  <span class="keywordflow">if</span>(!robotConnector.<a name="a7"></a><a class="code" href="classArRobotConnector.html#ab192ac393d9cc1e5b61b1a82b08d085d">connectRobot</a>())</div><div class="line">  {</div><div class="line">    <a name="a8"></a><a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a9"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a012daf6573594f91242f8dd7c02eb74b">ArLog::Terse</a>, <span class="stringliteral">&quot;robotSyncTaskExample: Could not connect to the robot.&quot;</span>);</div><div class="line">    <span class="keywordflow">if</span>(parser.<a name="a10"></a><a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">    {</div><div class="line">        <span class="comment">// -help not given</span></div><div class="line">        <a name="a11"></a><a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">        <a name="a12"></a><a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">    }</div><div class="line">  }</div><div class="line"></div><div class="line">  <span class="keywordflow">if</span> (!<a name="a13"></a><a class="code" href="classAria.html#a1b090c01d88bb420b8cf8e0384d25ee1">Aria::parseArgs</a>() || !parser.<a class="code" href="classArArgumentParser.html#ac3889cbdfa862031c51bf80e06954914">checkHelpAndWarnUnparsed</a>())</div><div class="line">  {</div><div class="line">    <a class="code" href="classAria.html#a10d71f3d4d0cf7f38c58a1f749f64a42">Aria::logOptions</a>();</div><div class="line">    <a class="code" href="classAria.html#a6abc3d39b3e9548063bb8e78375acc17">Aria::exit</a>(1);</div><div class="line">  }</div><div class="line"></div><div class="line">  <a class="code" href="classArLog.html#a43a8b3789126c818f390f24bdbceccce">ArLog::log</a>(<a name="a14"></a><a class="code" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a7040faf60eeb155eaa85d439b1066ca1">ArLog::Normal</a>, <span class="stringliteral">&quot;robotSyncTaskExample: Connected to robot.&quot;</span>);</div><div class="line"></div><div class="line">  <span class="comment">// This object encapsulates the task we want to do every cycle. </span></div><div class="line">  <span class="comment">// Upon creation, it puts a callback functor in the ArRobot object</span></div><div class="line">  <span class="comment">// as a &#39;user task&#39;.</span></div><div class="line">  PrintingTask pt(&amp;robot);</div><div class="line"></div><div class="line">  <span class="comment">// initialize aria</span></div><div class="line">  <a class="code" href="classAria.html#ad99c16b5d947229d9f8e1c5b2d4cdd73">Aria::init</a>();</div><div class="line"></div><div class="line">  </div><div class="line">  <span class="comment">// Start the robot process cycle running. Each cycle, it calls the robot&#39;s</span></div><div class="line">  <span class="comment">// tasks. When the PrintingTask was created above, it added a new</span></div><div class="line">  <span class="comment">// task to the robot. &#39;true&#39; means that if the robot connection</span></div><div class="line">  <span class="comment">// is lost, then ArRobot&#39;s processing cycle ends and this call returns.</span></div><div class="line">  robot.<a name="a15"></a><a class="code" href="classArRobot.html#a3c1c3056633caf455c8265259f57f6d7">run</a>(<span class="keyword">true</span>);</div><div class="line"></div><div class="line">  printf(<span class="stringliteral">&quot;Disconnected. Goodbye.\n&quot;</span>);</div><div class="line">  </div><div class="line">  <span class="keywordflow">return</span> 0;</div><div class="line">}</div></div><!-- fragment --> </div><!-- contents -->
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